batuhan-basoglu/Vehicle-Anti-Theft-Face-Recognition-System
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Motor 3 and Motor 4 been added

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This commit is contained in:
LEYAO LI 2021-04-04 15:59:30 -04:00
parent a652f95890
commit 9bf66a4bf7
1 changed files with 19 additions and 3 deletions
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18
final_demo.py
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@ -26,6 +26,8 @@ class Car:
# preset GPIO ports for 2 motors # preset GPIO ports for 2 motors
self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23} self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23}
self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22} self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22}
self.Motor3 = {'EN': 6, 'input1': 19, 'input2': 13}
self.Motor4 = {'EN': 16, 'input1': 20, 'input2': 21}
# preset the port for buttons and alarm # preset the port for buttons and alarm
GPIO.setup(26,GPIO.OUT) # alarm output GPIO.setup(26,GPIO.OUT) # alarm output
@ -40,12 +42,18 @@ class Car:
for x in self.Motor1: for x in self.Motor1:
GPIO.setup(self.Motor1[x], GPIO.OUT) GPIO.setup(self.Motor1[x], GPIO.OUT)
GPIO.setup(self.Motor2[x], GPIO.OUT) GPIO.setup(self.Motor2[x], GPIO.OUT)
GPIO.setup(self.Motor3[x], GPIO.OUT)
GPIO.setup(self.Motor4[x], GPIO.OUT)
# utilize PWM function, enable motors and frequency is 100Hz # utilize PWM function, enable motors and frequency is 100Hz
self.EN1 = GPIO.PWM(self.Motor1['EN'], 100) self.EN1 = GPIO.PWM(self.Motor1['EN'], 100)
self.EN2 = GPIO.PWM(self.Motor2['EN'], 100) self.EN2 = GPIO.PWM(self.Motor2['EN'], 100)
self.EN3 = GPIO.PWM(self.Motor3['EN'], 100)
self.EN4 = GPIO.PWM(self.Motor4['EN'], 100)
self.EN1.start(0) self.EN1.start(0)
self.EN2.start(0) self.EN2.start(0)
self.EN3.start(0)
self.EN4.start(0)
# stop signals for motors and alarm # stop signals for motors and alarm
self.motorStop=True self.motorStop=True
@ -62,10 +70,16 @@ class Car:
self.motorStop=False self.motorStop=False
self.EN1.ChangeDutyCycle(50) self.EN1.ChangeDutyCycle(50)
self.EN2.ChangeDutyCycle(50) self.EN2.ChangeDutyCycle(50)
self.EN3.ChangeDutyCycle(50)
self.EN4.ChangeDutyCycle(50)
GPIO.output(self.Motor1['input1'], GPIO.LOW) GPIO.output(self.Motor1['input1'], GPIO.LOW)
GPIO.output(self.Motor1['input2'], GPIO.HIGH) GPIO.output(self.Motor1['input2'], GPIO.HIGH)
GPIO.output(self.Motor2['input1'], GPIO.HIGH) GPIO.output(self.Motor2['input1'], GPIO.HIGH)
GPIO.output(self.Motor2['input2'], GPIO.LOW) GPIO.output(self.Motor2['input2'], GPIO.LOW)
GPIO.output(self.Motor3['input1'], GPIO.LOW)
GPIO.output(self.Motor3['input2'], GPIO.HIGH)
GPIO.output(self.Motor4['input1'], GPIO.HIGH)
GPIO.output(self.Motor4['input2'], GPIO.LOW)
print("motor is turned on") print("motor is turned on")
def stop_motor(self): def stop_motor(self):
@ -73,6 +87,8 @@ class Car:
self.motorStop=True self.motorStop=True
self.EN1.ChangeDutyCycle(0) self.EN1.ChangeDutyCycle(0)
self.EN2.ChangeDutyCycle(0) self.EN2.ChangeDutyCycle(0)
self.EN3.ChangeDutyCycle(0)
self.EN4.ChangeDutyCycle(0)
print("motor stops") print("motor stops")
def start_alarm(self): def start_alarm(self):
@ -157,7 +173,7 @@ if __name__=="__main__":
# get distance data from distance sensor # get distance data from distance sensor
dist = car.distance() dist = car.distance()
#print ("Measured Distance = %.1f cm" % dist) print ("Measured Distance = %.1f cm" % dist)
# Turn on motor if get sensor signal # Turn on motor if get sensor signal
if (motorSignal=="on" and car.motorStop): if (motorSignal=="on" and car.motorStop):